I went that same route; i.e. started with the STec 20/30 that did have "altitude hold" although it really demanded very frequent manual trim action as the STec would beep and flash demanding manual intervention when it could no longer hold the altitude. The next step was to add auto-trim (including a new dedicated trim servo) that would run the trim wheel when the tension it was using on the yoke exceeded some fixed value. This is what STec calls the "60 PSS" system. That add-on consisted of a panel mounted control for manual trim, glide slope tracking and altitude hold enabling functions. I also added the ST-901 that gave me roll steering thus allowing the STec to follow "the magenta line" course from my GNS 530W. That was accompanied by another panel "push-button" that selected GPSS (roll steering) or "heading" which then reverted to the mechanical DG (with heading output) for STec input rather than the GPS box. The next upgrade was to add 2 G-5 units, one of which was the new HSI. This allowed the ST-901 to be removed along with the DG/GPSS push-button since the G-5 HSI provides roll steering for the STec. It took me a number of years to accomplish this but it is worth it BECAUSE STec has no plans for an STC approval to put their 3100 digital autopilot into the Piper PA28 series. And, to go to Garmin, would require throwing out all the STec boxes and servos and re-installing Garmin servos, etc. So... this is essentially a dead-end for the STec capability I have.